Adolfo Anta MartinezPaulo TabuadaOn the Benefits of Relaxing the Periodicity Assumption for Networked Control Systems over CAN.3-122009RTSShttp://dx.doi.org/10.1109/RTSS.2009.39http://doi.ieeecomputersociety.org/10.1109/RTSS.2009.39conf/rtss/2009db/conf/rtss/rtss2009.html#MartinezT09